void CameraPoseOptimization::setTransformMatForFrame(int index, mat4f& mat)
{
if (index <= m_frameNumber)
{
//m_frameInfos[index - 1].frameNo = index - 1;
for (int i = 0; i != 4; ++i)
{
for (int j = 0; j != 4; ++j)
{
m_frameInfos[index - 1].matPose(i, j) = mat(i, j);
}
}
}
else if (index == m_frameNumber + 1)
{
FrameInfo frameInfo;
frameInfo.frameNo = index - 1;
for (int i = 0; i != 4; ++i)
{
for (int j = 0; j != 4; ++j)
{
frameInfo.matPose(i, j) = mat(i, j);
}
}
m_frameInfos.push_back(frameInfo);
}
else
{
cout << "Warning In setTransformMatForFrame() of CameraPoseOptimization: Input index is too large." << endl;
}
}
void CameraPoseOptimization::addTransformMatForNewFrame(int index, mat4f& mat)
{
if (index >= m_frameNumber)
{
FrameInfo frameInfo;
frameInfo.frameNo = m_frameNumber;
for (int i = 0; i != 4; ++i)
{
for (int j = 0; j != 4; ++j)
{
frameInfo.matPose(i, j) = mat(i, j);
}
}
frameInfo.matOptimizedPose = frameInfo.matPose;
m_frameInfos.push_back(frameInfo);
m_frameNumber = (int)m_frameInfos.size();
}
else
{
cout << "Frame " << index << "does already exist and cannot be added again." << endl;
}
}
